Haptic devices augment human performance in various computer tasks that in-volve the actuation of devices in the physical world and the virtual environment.The benefits are that these devices provide haptic feedback to the users resulting inmore realistic experiences for the tasks involved. Recently, popular desktop hapticdevices have been designed that are usually under-actuated. In other words, thesedevices can sense motion in more degrees-of-freedom than they can actuate. Ifthese type of devices can perform effectively in producing haptic effects.